Authors:
Hideo Kitagawa
1
;
Takashi Ohno
2
;
Yuki Ueno
2
and
Kazuhiko Terashima
2
Affiliations:
1
Gifu National College of Technology, Japan
;
2
Toyohashi University of Technology, Japan
Keyword(s):
Mobile robots, Movement, Robot kinematics, Vehicles, Wheels, Ride comfort.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
Holonomic omnidirectional mobile robot is useful with its high mobility in narrow or crowded area, and omnidirectional robot equipped with normal tires is desired for difference excess, vibration suppression and ride comfort. Caster-drive mechanism using normal tire has been developed to realize a holonomic omnidiredctional robot, however, there remains some problems. This paper presents effective systems to control the caster-drive wheels of omnidirectional mobile robot. Differential-Drive Steering System (DDSS) using planetary gearing is proposed to improve the operation ratio of motors. DDSS generates driving and steering torque effectively from two motors. Simulation results show the proposed system is effective for holonomic omnidirectional mobile robots.